Obbart/universal_robots_ros_driver
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Added prefix args to ros_control launch files and to the tool0_controller transform frame

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Thomas Timm Andersen
2016-02-19 14:58:28 +01:00
parent 0b9bf8b549
commit adc223cbd8
6 changed files with 24 additions and 9 deletions
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4
launch/ur_common.launch
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@@ -13,8 +13,8 @@
<arg name="max_payload" />
<arg name="prefix" default="" />
<arg name="servoj_time" default="0.008" />
<arg name="base_frame" default="base"/>
<arg name="tool_frame" default="tool0_controller"/>
<arg name="base_frame" default="$(arg prefix)base_link" />
<arg name="tool_frame" default="$(arg prefix)tool0_controller" />
<!-- The max_velocity parameter is only used for debugging in the ur_driver. It's not related to actual velocity limits -->
<arg name="max_velocity" default="10.0"/> <!-- [rad/s] -->